A Study of Magnetically-Coupled 2-Dimensional Reconfigurable Modular Robots
Abstract
This Trident Scholar project consisted of the development and investigation of identical modular autonomous robots that used only active magnetic forces to self-reconfigure and passive magnetic forces to maintain themselves in a network of independent modular robots. The resultant modular group configurations have the potential to provide useful functions not possible by the individual units. The goals of this project were threefold: (a) to develop and determine the effectiveness of a network that utilizes magnetically connected and actuated modules, (b) to develop suitable self-reconfiguration algorithms, and (c) to extrapolate this macro-scale network to future micro-scale networks. Implementation of these goals was done in two major phases. Initially, sophisticated generic independent robot modules were designed and constructed to show that several modules could autonomously self-reconfigure in a laboratory network. The design of these modules was iteratively improved to arrive at a fully functional design. The second phase involved developing generic embedded software for each module to permit the small network to move and self-reconfigure. The performance of the active magnetic actuation, passive magnetic latch robotic modules that were developed was observed to be comparable, but not necessarily superior to existing mechanically linked designs on the macro scale. The use of magnets versus mechanical actuators and latches, however, provides the promise of being superior in micro-scale networks of reconfigurable robots. (1 table, 37 figures, 6 refs.)
Document Details
- Document Type
- Technical Report
- Publication Date
- May 06, 2003
- Accession Number
- ADA419475
Entities
People
- Sean A. Patterson